diff -r 000000000000 -r 2c8ba1964db7 planner.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/planner.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,139 @@ +/* + planner.h - buffers movement commands and manages the acceleration profile plan + Part of Grbl + + Copyright (c) 2009-2011 Simen Svale Skogsrud + + Grbl is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Grbl is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with Grbl. If not, see . +*/ + +// This module is to be considered a sub-module of stepper.c. Please don't include +// this file from any other module. + +#ifndef planner_h +#define planner_h + +#include "Marlin.h" + +// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in +// the source g-code and may never actually be reached if acceleration management is active. +typedef struct { + // Fields used by the bresenham algorithm for tracing the line + long steps_x, steps_y, steps_z, steps_e; // Step count along each axis + unsigned long step_event_count; // The number of step events required to complete this block + long accelerate_until; // The index of the step event on which to stop acceleration + long decelerate_after; // The index of the step event on which to start decelerating + long acceleration_rate; // The acceleration rate used for acceleration calculation + unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) + unsigned char active_extruder; // Selects the active extruder + #ifdef ADVANCE + long advance_rate; + volatile long initial_advance; + volatile long final_advance; + float advance; + #endif + + // Fields used by the motion planner to manage acceleration +// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis + float nominal_speed; // The nominal speed for this block in mm/sec + float entry_speed; // Entry speed at previous-current junction in mm/sec + float max_entry_speed; // Maximum allowable junction entry speed in mm/sec + float millimeters; // The total travel of this block in mm + float acceleration; // acceleration mm/sec^2 + unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction + unsigned char nominal_length_flag; // Planner flag for nominal speed always reached + + // Settings for the trapezoid generator + unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec + unsigned long initial_rate; // The jerk-adjusted step rate at start of block + unsigned long final_rate; // The minimal rate at exit + unsigned long acceleration_st; // acceleration steps/sec^2 + unsigned long fan_speed; + volatile char busy; +} block_t; + +// Initialize the motion plan subsystem +void plan_init(); + +// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in +// millimaters. Feed rate specifies the speed of the motion. +void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder); + +// Set position. Used for G92 instructions. +void plan_set_position(const float &x, const float &y, const float &z, const float &e); +void plan_set_e_position(const float &e); + + + +void check_axes_activity(); +uint8_t movesplanned(); //return the nr of buffered moves + +extern unsigned long minsegmenttime; +extern float max_feedrate[4]; // set the max speeds +extern float axis_steps_per_unit[4]; +extern unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software +extern float minimumfeedrate; +extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX +extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX +extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly. +extern float max_z_jerk; +extern float max_e_jerk; +extern float mintravelfeedrate; +extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; + +#ifdef AUTOTEMP + extern bool autotemp_enabled; + extern float autotemp_max; + extern float autotemp_min; + extern float autotemp_factor; +#endif + + + + +extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions +extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed +extern volatile unsigned char block_buffer_tail; +// Called when the current block is no longer needed. Discards the block and makes the memory +// availible for new blocks. +FORCE_INLINE void plan_discard_current_block() +{ + if (block_buffer_head != block_buffer_tail) { + block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1); + } +} + +// Gets the current block. Returns NULL if buffer empty +FORCE_INLINE block_t *plan_get_current_block() +{ + if (block_buffer_head == block_buffer_tail) { + return(NULL); + } + block_t *block = &block_buffer[block_buffer_tail]; + block->busy = true; + return(block); +} + +// Gets the current block. Returns NULL if buffer empty +FORCE_INLINE bool blocks_queued() +{ + if (block_buffer_head == block_buffer_tail) { + return false; + } + else + return true; +} + +void allow_cold_extrudes(bool allow); +#endif